CN108594143A - A kind of permanent magnet synchronous motor demagnetization method for diagnosing faults - Google Patents

A kind of permanent magnet synchronous motor demagnetization method for diagnosing faults Download PDF

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Publication number
CN108594143A
CN108594143A CN201810067815.XA CN201810067815A CN108594143A CN 108594143 A CN108594143 A CN 108594143A CN 201810067815 A CN201810067815 A CN 201810067815A CN 108594143 A CN108594143 A CN 108594143A
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synchronous motor
domain
permanent magnet
fault
magnet synchronous
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王洪涛
韩梁
黄丽霞
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Ningde Normal University
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Ningde Normal University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/12—Measuring magnetic properties of articles or specimens of solids or fluids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines

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  • General Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)

Abstract

The invention belongs to Diagnosing Faults of Electrical technical fields, a kind of permanent magnet synchronous motor demagnetization method for diagnosing faults is disclosed, including current signal samples, calculates instantaneous value, calculate absolute value, automatic fault location phase, determine loss of excitation fault characteristic frequency, judge that loss of excitation failure occurs, failure judgement severity, establish the several steps of Analysis of Failure Model, complete solution.A kind of intelligent failure diagnosis method of permanent magnet synchronous motor provided by the invention, need not increase additional equipment, and cost is few, calculate simple；Shorted-turn fault can not only be diagnosed in real time, and can automatically positioning failure phase；It can overcome the shortcomings of existing diagnostic method, improve real-time, the validity and reliability of diagnosis；The sampling time of the invention is short simultaneously, strong antijamming capability, can be judged the permanent magnet synchronous motor loss of excitation failure in the case of different rotating speeds, different load.

Description

A kind of permanent magnet synchronous motor demagnetization method for diagnosing faults
Technical field
The invention belongs to Diagnosing Faults of Electrical technical field more particularly to a kind of permanent magnet synchronous motor demagnetization fault diagnosis sides Method.
Background technology
Electric vehicle driving is a kind of New-type electric machine with permanent magnet synchronous motor, and running environment is complicated (such as vibration, height Epidemic disaster, dust etc.), Fraquent start, acceleration, deceleration, braking etc., these are all unfavorable for the safe operation of motor, are possible to Induce electrical fault.Over Electric Motor with PMSM is mostly using frequency converter as driving power, to reach energy saving and improve electricity The purpose of machine rotation speed change range, in frequency converter the extensive application of power electronic devices increase the probability that short circuit occurs for motor； The short-circuit magnetomotive force of permanent magnet synchronous motor will produce permanent magnet larger demagnetizing effect；In order to which the air-gap flux for obtaining sinusoidal is close Waveform is spent, permanent magnet will carry out top rake processing in design of electrical motor, and permanent magnet is thinning at top rake position, when a failure occurs it, cuts The permanent magnet of angular position is easy loss of excitation.However, existing need Fault Analysis of Driving Motor to increase additional equipment, and it is of high cost, it calculates Simple complicated, diagnosis is inaccurate；Simultaneously in different rotating speeds, different load difficult diagnosis.
In conclusion problem of the existing technology is：It is existing that Fault Analysis of Driving Motor is needed to increase additional equipment, at This height, calculates letter complexity, and diagnosis is inaccurate；Simultaneously in different rotating speeds, different load difficult diagnosis.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of permanent magnet synchronous motor demagnetization method for diagnosing faults.
The invention is realized in this way the permanent magnet synchronous motor demagnetization method for diagnosing faults includes the following steps：
Step 1 samples permanent-magnetic synchronous motor stator three-phase current signal to be measured；
Step 2 utilizes the instantaneous amplitude of coordinate transform theoretical calculation permanent-magnetic synchronous motor stator three-phase phase current fundamental wave Ia, Ib, Ic；
Step 3 calculates separately three instantaneous amplitude Ia, Ib, IcMiddle any two instantaneous amplitude absolute value of the difference, and by three A absolute value and then have shorted-turn fault, and position if Fe ＞ thr, thr are threshold value as fault characteristic value Fe Failure phase, conversely, then without shorted-turn fault；
Step 4 utilizes support vector machine classifier automatically positioning failure phase in shorted-turn fault；
Step 5 determines loss of excitation event in no shorted-turn fault according to the number of poles of permanent magnet synchronous motor to be measured Hinder characteristic frequency, using loss of excitation fault characteristic frequency as loss of excitation fault characteristic value；
Step 6, estimates the frequency of each frequency component in stator three-phase current signal to be measured, according to whether there is loss of excitation event Hinder characteristic quantity to judge that loss of excitation failure occurs；
Step 7 acquires the permanent-magnetic synchronous motor stator three-phase current signal of normal condition in advance；Estimate stator three to be measured In phase current signal after each frequency component amplitude, with normal condition motor in electric current section same frequency component amplitude ratio fall Number is used as fault compression；Judge the severity that loss of excitation failure occurs according to fault compression；
Step 8 establishes simulation model according to the malfunction tentatively judged, carries out procedure fault sunykatuib analysis, excludes simultaneously Confirmation problem；
Step 9 is found out solution according to failure problems, is simulated again using simulation model, confirms solution Validity.
Further, the fault characteristic value Fe acquisition methods are：
Y=[Y '1(k), Y '2(k) ..., Y 'I-1(k)]′
By Y=[Y '1(k), Y '2(k) ..., Y 'I-1(k)] ' and it is used as observation matrix, it is made based on the blind of second-order statistic Source detaches, and estimates hybrid matrix W=[G '0,1(k), G '0,2(k) ... G '0, J(k)] ' and source vector GJ, i(k), i=1 ... I- 1, j=1,2 ..., J, wherein G0, j(k) it is the 0th sensor to the frequency response function between j-th of defect point of wood internal, GJ, i(k) be j-th of defect point to the frequency response function between i-th of observation point, detailed step is：
(7) estimate the correlation matrix of Y
(8) rightMake Eigenvalues Decomposition (EVD)
Wherein (I-1) × J ties up matrix VM=[v1, v2... vI-1] it is the main feature value arranged by descending order with J ΛS=diag { λ1≥λ2…≥λJCorresponding characteristic vector；(I-1) × (I-1-J) matrix V is tieed upNIncluding (I-1-J) a noise Feature ΛN={ λJ+1≥…≥λI-1Corresponding noise characteristic vector, and λJ＞ λJ+1；
(9) white noise varianceIt is estimated the mean value of (I-1-J) a inessential characteristic value；
(10) steady prewhitening transformation is carried out：
Wherein
(11) for given p ≠ 0, estimated vectorCovariance matrix, and carry out the singular value decomposition of covariance matrix：
(12) for given p, diagonal matrix is checkedWhether all singular values different, if identical, for it is different when Stagnant p repeats step (5), if singular value is different, and away from each other, then estimates source vector：
Further, the threshold value thr determines that method is：
For threshold value thr, first under permanent magnet synchronous motor normal operation, fault characteristic value Fe is recorded in difference Then the value of operating point is set to threshold value thr, finally the threshold value that these set is preserved in the table, is examined in failure It is called when disconnected；
Fault diagnosis carries out the fault diagnosis of complex task together with multiple domain head between domain, when a domain head can not diagnostic task When, it will combine multiple domain head and form common diagnostic knowledge space, carry out collaborative diagnosis failure with this.
Then the first election in domain will be divided into multiple domains according to areal relation by the way of assigning with node layer；At the beginning of system When beginningization, multiple layers are divided into first, in accordance with relationship between superior and subordinate, are then divided into multiple domains according still further to membership, and select domain It is first；Each node in domain will be autonomous carry out information registering to the domain head in place domain, and keep updating, the node in domain makes Use its MAC Address as its unique mark, and each node will establish domain interior nodes information bank, be used for storage node and net The information of network；Node in domain is all dynamic, if an external node wants that domain is added, needs to propose to register to domain head Application, after domain head ratifies according to the management rule in domain, simultaneously the domain is added in the node, that is, registrable.
Further, the automatically positioning failure phase method is：
Step 1: importing coordinate, design stake position coordinate is imported；
Step 2: plane reconnaissance, selects this point of driving piles；
Step 3: plane is sought a little, piling locomotive is moved according to direction prompt message and finely tunes pile monkey；
Step 4: the deep control of piling, hits distance prompt control according to residue and stop stake, beaten or no marking in order to avoid crossing；
Step 5: export report, the data such as time, coordinate, pillar height are exported according to actual requirement；
f1(x)=sgn (ω1·x+b1)
In formula：f1(x) it is the decision function of the 1st support vector machine classifier, ω1And b1It is the 1st support vector machines point The Optimal Parameters of class device, wherein parameter ω1And b1It is determined according to the training of support vector machines.
Further, the permanent-magnetic synchronous motor stator three-phase current signal to be measured of acquisition is filtered out using 3 layers of sym4 algorithms dry Disturb signal；Sample frequency is set as 10kHz, and sampling duration is set as 2s；
The shape of electrode utilizes Artchut Pro for cutter Software for Design, then utilizes rowland carving machine GX-24 It is engraved on plastic film substrate；
It takes the plastic film that electrode shape is covered off, then utilizes magnetron sputtering technique sputtering at thickness for 150nm's Gold thin film；
It by film gold electrode first with a large amount of alcohol wipes, then is rinsed with a large amount of distilled waters, finally utilizes plasma cleaner Cleaning, is sealed.
Further, the step 6 estimates each frequency point in stator three-phase current signal to be measured using Power Spectrum Estimation Method The frequency of amount, film gold electrode need to be pre-processed, and successively be polished repeatedly with 0.3 and 0.5 μm of alumina lap powder, be used Alcohol wipe, with a large amount of distilled waters rinse, be finally placed on natural air drying at room temperature or using electric heating constant-temperature blowing drying box into Sector-style is dry；Double-strand after hybridization is added dropwise on the surface of film gold electrode, is placed in room temperature environment and is air-dried, then, with big It measures distilled water and rinses electrode, to remove the weaker double-strandednucleic acid of adsorption capacity from film gold electrode, ensure double on electrode Chain nucleic acid stability；Finally, electrode is closed with small molecules such as mercaptoethanols, this film gold electrode for being fixed with aptamer claims Be aptamer sensor, the sensor is closed to be stored at a temperature of -4 DEG C.
Further, step 7 estimates each frequency component width in stator three-phase current signal to be measured using Direct search algorithm Value；
Step 1 is equably installed the piezoelectric type that I are connected to data collecting card by signal cable around log and is added Velocity sensor taps the sensor that number is 0 with pulse hammer, then completes piezoelectric type acceleration sensing by data collecting card The acquisition of device output signal, saves as x0(n), x1(n) ..., x1(n) ..., xI-1(n)；
Step 2 does the transformation of K point fast Fouriers to collected signal, obtains X0(k), X1(k) ..., Xi(k) ..., XI-1(k), then k=0,1 ... K-1 find out the 0th sensor to the actual frequency between other each observation sensors and respond letter Number：
Step 3 defines under the same terms in healthy timber the 0th sensor to the frequency between other each observation sensors Rate receptance function is H0, i(k), then by Hi(k) H is subtracted0, i(k), it obtains：
Yi(k)=Hi(k)-H0, i(k), i=1 ... I-1；
Step 4：Build Y=[Y '1(k), Y '2(k) ..., Y 'I-1(k)] ' and it is used as observation matrix, it is made to unite based on second order The blind source separating of metering estimates hybrid matrix W=[G '0,1(k), G '0,2(k) ... G '0, J(k)] ' and source vector GJ, i(k), i =1 ... I-1, j=1,2 ..., J, wherein G0, j(k) it is that the 0th sensor to the frequency between j-th of defect point of wood internal is rung Answer function, GJ, i(k) it is j-th of defect point to the frequency response function between i-th of observation point；
Step 5, to J estimatedCarry out k mean cluster analysis；
Step 6 differentiates that wood internal has a zero defect according to the result of cluster, categorical measure determine defect area number, The quantity of data object indicates the size of the defect area in per class.
Advantages of the present invention and good effect are：A kind of intelligent trouble diagnosis side of permanent magnet synchronous motor provided by the invention Method need not increase additional equipment, and cost is few, calculate simple；Shorted-turn fault can not only be diagnosed in real time, and can be certainly Dynamic ground positioning failure phase；It can overcome the shortcomings of existing diagnostic method, improve real-time, the validity and reliability of diagnosis；Together When the sampling time of the invention is short, strong antijamming capability, to the permanent magnet synchronous motor loss of excitation in the case of different rotating speeds, different load therefore Barrier can be judged；The secondary judgement of failure and the judgement of solution can be carried out using simulation softward simultaneously, is shortened Diagnostic Time, improves the time efficiency of solution.
Description of the drawings
Fig. 1 is permanent magnet synchronous motor demagnetization method for diagnosing faults flow chart provided in an embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to Limit the present invention.
Below in conjunction with the accompanying drawings and specific embodiment is further described the application principle of the present invention.
Permanent magnet synchronous motor demagnetization method for diagnosing faults includes the following steps：
S101：Permanent-magnetic synchronous motor stator three-phase current signal to be measured is sampled；
S102：Utilize the instantaneous amplitude I of coordinate transform theoretical calculation permanent-magnetic synchronous motor stator three-phase phase current fundamental wavea, Ib, Ic；
S103：Calculate separately three instantaneous amplitude Ia, Ib, IcMiddle any two instantaneous amplitude absolute value of the difference, and by three Absolute value and then have shorted-turn fault if Fe ＞ thr, thr are threshold value as fault characteristic value Fe, and position therefore Hinder phase, conversely, then without shorted-turn fault；
S104：In shorted-turn fault, support vector machine classifier automatically positioning failure phase is utilized；
S105：In no shorted-turn fault, loss of excitation failure is determined according to the number of poles of permanent magnet synchronous motor to be measured Characteristic frequency, using loss of excitation fault characteristic frequency as loss of excitation fault characteristic value；
S106：The frequency of each frequency component in stator three-phase current signal to be measured is estimated, according to whether there is loss of excitation failure Characteristic quantity judges that loss of excitation failure occurs；
S107：The permanent-magnetic synchronous motor stator three-phase current signal of acquisition normal condition in advance；Estimate stator three-phase to be measured In current signal after each frequency component amplitude, with normal condition motor with the inverse of same frequency component amplitude ratio in electric current section As fault compression；Judge the severity that loss of excitation failure occurs according to fault compression；
S108：Simulation model is established according to the malfunction tentatively judged, carries out procedure fault sunykatuib analysis, is excluded and true Recognize problem；
S109：Solution is found out according to failure problems, is simulated again using simulation model, confirms solution Validity.
As the preferred embodiment of the present invention, the fault characteristic value Fe acquisition methods are：
Y=[Y '1(k), Y '2(k) ..., Y 'I-1(k)]′
By Y=[Y '1(k), Y '2(k) ..., Y 'I-1(k)] ' and it is used as observation matrix, it is made based on the blind of second-order statistic Source detaches, and estimates hybrid matrix W=[G '0,1(k), G '0,2(k) ... G '0, J(k)] ' and source vector GJ, i(k), i=1 ... I- 1, j=1,2 ..., J, wherein G0, j(k) it is the 0th sensor to the frequency response function between j-th of defect point of wood internal, GJ, i(k) be j-th of defect point to the frequency response function between i-th of observation point, detailed step is：(13) estimate the correlation of Y Matrix
(14) rightMake Eigenvalues Decomposition (EVD)
Wherein (I-1) × J ties up matrix VM=[v1, v2... vI-1] it is the main feature value arranged by descending order with J ΛS=diag { λ1≥λ2…≥λJCorresponding characteristic vector；(I-1) × (I-1-J) matrix V is tieed upNIncluding (I-1-J) a noise Feature ΛN={ λJ+1≥…≥λI-1Corresponding noise characteristic vector, and λJ＞ λJ+1；
(15) white noise varianceIt is estimated the mean value of (I-1-J) a inessential characteristic value；
(16) steady prewhitening transformation is carried out：
Wherein
(17) for given p ≠ 0, estimated vectorCovariance matrix, and carry out the singular value decomposition of covariance matrix：
(18) for given p, diagonal matrix is checkedWhether all singular values different, if identical, for it is different when Stagnant p repeats step (5), if singular value is different, and away from each other, then estimates source vector：
As the preferred embodiment of the present invention, the threshold value thr determines that method is：
For threshold value thr, first under permanent magnet synchronous motor normal operation, fault characteristic value Fe is recorded in difference Then the value of operating point is set to threshold value thr, finally the threshold value that these set is preserved in the table, is examined in failure It is called when disconnected；
Fault diagnosis carries out the fault diagnosis of complex task together with multiple domain head between domain, when a domain head can not diagnostic task When, it will combine multiple domain head and form common diagnostic knowledge space, carry out collaborative diagnosis failure with this.
Then the first election in domain will be divided into multiple domains according to areal relation by the way of assigning with node layer；At the beginning of system When beginningization, multiple layers are divided into first, in accordance with relationship between superior and subordinate, are then divided into multiple domains according still further to membership, and select domain It is first；Each node in domain will be autonomous carry out information registering to the domain head in place domain, and keep updating, the node in domain makes Use its MAC Address as its unique mark, and each node will establish domain interior nodes information bank, be used for storage node and net The information of network；Node in domain is all dynamic, if an external node wants that domain is added, needs to propose to register to domain head Application, after domain head ratifies according to the management rule in domain, simultaneously the domain is added in the node, that is, registrable.
As the preferred embodiment of the present invention, the automatically positioning failure phase method is：
Step 1: importing coordinate, design stake position coordinate is imported；
Step 2: plane reconnaissance, selects this point of driving piles；
Step 3: plane is sought a little, piling locomotive is moved according to direction prompt message and finely tunes pile monkey；
Step 4: the deep control of piling, hits distance prompt control according to residue and stop stake, beaten or no marking in order to avoid crossing；
Step 5: export report, the data such as time, coordinate, pillar height are exported according to actual requirement；
f1(x)=sgn (ω1·x+b1)
In formula：f1(x) it is the decision function of the 1st support vector machine classifier, ω1And b1It is the 1st support vector machines point The Optimal Parameters of class device, wherein parameter ω1And b1It is determined according to the training of support vector machines.
As the preferred embodiment of the present invention, 3 are used to the permanent-magnetic synchronous motor stator three-phase current signal to be measured of acquisition Layer sym4 algorithm filtering interference signals；Sample frequency is set as 10kHz, and sampling duration is set as 2s；
The shape of electrode utilizes Artchut Pro for cutter Software for Design, then utilizes rowland carving machine GX-24 It is engraved on plastic film substrate；
It takes the plastic film that electrode shape is covered off, then utilizes magnetron sputtering technique sputtering at thickness for 150nm's Gold thin film；
It by film gold electrode first with a large amount of alcohol wipes, then is rinsed with a large amount of distilled waters, finally utilizes plasma cleaner Cleaning, is sealed.
As the preferred embodiment of the present invention, the step 6 estimates stator three-phase electricity to be measured using Power Spectrum Estimation Method The frequency of each frequency component in signal is flowed, film gold electrode need to be pre-processed, successively with 0.3 and 0.5 μm of alumina lap Powder is polished repeatedly, with alcohol wipe, is rinsed with a large amount of distilled waters, is finally placed on natural air drying at room temperature or is utilized electric heating Constant temperature blast drying oven is air-dried；By after hybridization double-strand be added dropwise on the surface of film gold electrode, be placed in room temperature environment into Sector-style is dry, then, electrode is rinsed with a large amount of distilled waters, to remove the weaker double-strandednucleic acid of adsorption capacity from film gold electrode Fall, ensures that the double-strandednucleic acid on electrode is stablized；Finally, electrode is closed with small molecules such as mercaptoethanols, it is this to be fixed with nucleic acid The film gold electrode of aptamer is referred to as aptamer sensor, and the sensor is closed to be stored at a temperature of -4 DEG C.
As the preferred embodiment of the present invention, step 7 estimates stator three-phase current signal to be measured using Direct search algorithm In each frequency component amplitude；
Step 1 is equably installed the piezoelectric type that I are connected to data collecting card by signal cable around log and is added Velocity sensor taps the sensor that number is 0 with pulse hammer, then completes piezoelectric type acceleration sensing by data collecting card The acquisition of device output signal, saves as x0(n), x1(n) ..., xi(n) ..., xI-1(n)；
Step 2 does the transformation of K point fast Fouriers to collected signal, obtains X0(k), X1(k) ..., Xi(k) ..., XI-1(k), then k=0,1 ... K-1 find out the 0th sensor to the actual frequency between other each observation sensors and respond letter Number：
Step 3 defines under the same terms in healthy timber the 0th sensor to the frequency between other each observation sensors Rate receptance function is H0, i(k), then by Hi(k) H is subtracted0, i(k), it obtains：
Yi(k)=Hi(k)-H0, i(k), i=1 ... I-1；
Step 4：Build Y=[Y '1(k), Y '2(k) ..., Y 'I-1(k)] ' and it is used as observation matrix, it is made to unite based on second order The blind source separating of metering estimates hybrid matrix W=[G '0,1(k), G '0,2(k) ... G '0, J(k)] ' and source vector GJ, i(k), i =1 ... I-1, j=1,2 ..., J, wherein G0, j(k) it is that the 0th sensor to the frequency between j-th of defect point of wood internal is rung Answer function, GJ, i(k) it is j-th of defect point to the frequency response function between i-th of observation point；
Step 5, to J estimated(k) k mean cluster analysis is carried out；
Step 6 differentiates that wood internal has a zero defect according to the result of cluster, categorical measure determine defect area number, The quantity of data object indicates the size of the defect area in per class.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.

Claims (7)

  1. The method for diagnosing faults 1. a kind of permanent magnet synchronous motor demagnetizes, which is characterized in that the permanent magnet synchronous motor demagnetization failure is examined Disconnected method includes the following steps：
    Step 1 samples permanent-magnetic synchronous motor stator three-phase current signal to be measured；
    Step 2 utilizes the instantaneous amplitude I of coordinate transform theoretical calculation permanent-magnetic synchronous motor stator three-phase phase current fundamental wavea, Ib, Ic；
    Step 3 calculates separately three instantaneous amplitude Ia, Ib, IcMiddle any two instantaneous amplitude absolute value of the difference, and absolutely by three To value and as fault characteristic value Fe then have shorted-turn fault, and positioning failure if Fe ＞ thr, thr are threshold value Phase, conversely, then without shorted-turn fault；
    Step 4 utilizes support vector machine classifier automatically positioning failure phase in shorted-turn fault；
    Step 5 determines that loss of excitation failure is special in no shorted-turn fault according to the number of poles of permanent magnet synchronous motor to be measured Frequency is levied, using loss of excitation fault characteristic frequency as loss of excitation fault characteristic value；
    Step 6, estimates the frequency of each frequency component in stator three-phase current signal to be measured, according to whether it is special loss of excitation failure occur Sign amount judges that loss of excitation failure occurs；
    Step 7 acquires the permanent-magnetic synchronous motor stator three-phase current signal of normal condition in advance；Estimate stator three-phase electricity to be measured It flows in signal after each frequency component amplitude, makees with the reciprocal of same frequency component amplitude ratio in electric current section with normal condition motor For fault compression；Judge the severity that loss of excitation failure occurs according to fault compression；
    Step 8 establishes simulation model according to the malfunction tentatively judged, carries out procedure fault sunykatuib analysis, exclude and confirm Problem；
    Step 9 is found out solution according to failure problems, is simulated again using simulation model, and confirm solution has Effect property.
  2. The method for diagnosing faults 2. permanent magnet synchronous motor as described in claim 1 demagnetizes, which is characterized in that the fault characteristic value Fe acquisition methods are：
    Y=[Y1' (k), Y '2(k) ..., Y 'I-1(k)]′
    By Y=[Y1' (k), Y '2(k) ..., Y 'I-1(k)] ' and it is used as observation matrix, make the blind source based on second-order statistic point to it From estimating hybrid matrix W=[G '0,1(k), G '0,2(k) ... G '0, J(k)] ' and source vector GJ, i(k), i=1 ... I-1, j= 1,2 ..., J, wherein G0, j(k) it is the 0th sensor to the frequency response function between j-th of defect point of wood internal, GJ, i (k) be j-th of defect point to the frequency response function between i-th of observation point, detailed step is：
    (1) estimate the correlation matrix of Y
    (2) rightMake Eigenvalues Decomposition (EVD)
    Wherein (I-1) × J ties up matrix VM=[v1, v2... vI-1] it is the main feature value Λ arranged by descending order with Js= diag{λ1≥λ2…≥λJCorresponding characteristic vector；(I-1) × (I-1-J) matrix V is tieed upNIncluding (I-1-J) a noise characteristic ΛN={ λJ+1≥…≥λI-1Corresponding noise characteristic vector, and λJ＞ λJ+1；
    (3) white noise varianceIt is estimated the mean value of (I-1-J) a inessential characteristic value；
    (4) steady prewhitening transformation is carried out：
    Wherein
    (5) for given p ≠ 0, estimated vectorCovariance matrix, and carry out the singular value decomposition of covariance matrix：
    (6) for given p, diagonal matrix is checkedWhether all singular values are different, if identical, for different time lag p weights Multiple step (5), if singular value is different, and away from each other, then estimates source vector：
  3. The method for diagnosing faults 3. permanent magnet synchronous motor as described in claim 1 demagnetizes, which is characterized in that the threshold value thr is true The method of determining is：
    For threshold value thr, first under permanent magnet synchronous motor normal operation, fault characteristic value Fe is recorded in different operating The value of point, is then set to threshold value thr, and finally the threshold value that these set is preserved in the table, in fault diagnosis When be called；
    Between domain fault diagnosis together with multiple domain head carry out complex task fault diagnosis, when a domain head can not diagnostic task when, It will combine multiple domain head and form common diagnostic knowledge space, carry out collaborative diagnosis failure with this.
    Then the first election in domain will be divided into multiple domains according to areal relation by the way of assigning with node layer；System initialization When, multiple layers are divided into first, in accordance with relationship between superior and subordinate, are then divided into multiple domains according still further to membership, and select domain head； Each node in domain will be autonomous carry out information registering to the domain head in place domain, and keep updating, the node in domain uses Its MAC Address is as its unique mark, and each node will establish domain interior nodes information bank, be used for storage node and network Information；Node in domain is all dynamic, if an external node wants that domain is added, needs to propose registration Shen to domain head Please, after domain head is according to the management rule approval in domain, simultaneously the domain is added in the node, that is, registrable.
  4. The method for diagnosing faults 4. permanent magnet synchronous motor as described in claim 1 demagnetizes, which is characterized in that described automatically to position Failure phase method is：
    Step 1: importing coordinate, design stake position coordinate is imported；
    Step 2: plane reconnaissance, selects this point of driving piles；
    Step 3: plane is sought a little, piling locomotive is moved according to direction prompt message and finely tunes pile monkey；
    Step 4: the deep control of piling, hits distance prompt control according to residue and stop stake, beaten or no marking in order to avoid crossing；
    Step 5: export report, the data such as time, coordinate, pillar height are exported according to actual requirement；
    f1(x)=sgn (ω1·x+b1)
    In formula：f1(x) it is the decision function of the 1st support vector machine classifier, ω1And b1It is the 1st support vector machine classifier Optimal Parameters, wherein parameter ω1And b1It is determined according to the training of support vector machines.
  5. The method for diagnosing faults 5. permanent magnet synchronous motor as described in claim 1 demagnetizes, which is characterized in that acquisition it is to be measured forever Magnetic-synchro motor stator three-phase current signal uses 3 layers of sym4 algorithm filtering interference signals；Sample frequency is set as 10kHz, adopts Sample duration is set as 2s；
    The shape of electrode utilizes Artchut Pro for cutter Software for Design, is then scribed using rowland carving machine GX-24 On plastic film substrate；
    It takes the plastic film that electrode shape is covered off, then utilizes magnetron sputtering technique sputtering thin for the gold of 150nm at thickness Film；
    It by film gold electrode first with a large amount of alcohol wipes, then is rinsed with a large amount of distilled waters, finally plasma cleaner is utilized to clean, It is sealed.
  6. The method for diagnosing faults 6. permanent magnet synchronous motor as described in claim 1 demagnetizes, which is characterized in that the step 6 uses Power Spectrum Estimation Method estimates that the frequency of each frequency component in stator three-phase current signal to be measured, film gold electrode need to be located in advance Reason, is successively polished with 0.3 and 0.5 μm of alumina lap powder repeatedly, with alcohol wipe, is rinsed with a large amount of distilled waters, most After be placed on natural air drying at room temperature or air-dried using electric heating constant-temperature blowing drying box；Double-strand after hybridization is added dropwise thin The surface of film gold electrode, is placed in room temperature environment and is air-dried, and then, electrode is rinsed with a large amount of distilled waters, so as to by adsorption capacity Weaker double-strandednucleic acid is removed from film gold electrode, ensures that the double-strandednucleic acid on electrode is stablized；Finally, small with mercaptoethanol etc. Molecule closes electrode, and this film gold electrode for being fixed with aptamer is referred to as aptamer sensor, and the sensor is close It closes and is stored at a temperature of -4 DEG C.
  7. The method for diagnosing faults 7. permanent magnet synchronous motor as described in claim 1 demagnetizes, which is characterized in that step 7 is using direct Searching algorithm estimates each frequency component amplitude in stator three-phase current signal to be measured；
    Step 1 equably installs the I piezoelectric type accelerations that data collecting card is connected to by signal cable around log Sensor taps the sensor that number is 0 with pulse hammer, and it is defeated then to complete piezoelectric acceleration transducer by data collecting card The acquisition for going out signal, saves as x0(n), x1(n) ..., xi(n) ..., xI-1(n)；
    Step 2 does the transformation of K point fast Fouriers to collected signal, obtains X0(k), X1(k) ..., Xi(k) ..., XI-1 (k), then k=0,1 ... K-1 find out the 0th sensor to the actual frequency receptance function between other each observation sensors：
    Step 3, defines under the same terms that the 0th sensor to the frequency between other each observation sensors is rung in healthy timber It is H to answer function0, i(k), then by Hi(k) H is subtracted0, i(k), it obtains：
    Yi(k)=Hi(k)-H0, i(k), i=1 ... I-1；
    Step 4：Build Y=[Y1' (k), Y '2(k) ..., Y 'I-1(k)] ' and it is used as observation matrix, it is made to be based on second-order statistic Blind source separating, estimate hybrid matrix W=[G '0,1(k), G '0,2(k) ... G '0, J(k)] ' and source vector GJ, i(k), i= 1 ... I-1, j=1,2 ..., J, wherein G0, j(k) it is the 0th sensor to the frequency response between j-th of defect point of wood internal Function, GJ, i(k) it is j-th of defect point to the frequency response function between i-th of observation point；
    Step 5, to J estimatedCarry out k mean cluster analysis；
    Step 6 differentiates that wood internal has a zero defect according to the result of cluster, categorical measure determine defect area number, per class The quantity of middle data object indicates the size of the defect area.
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CN110492689A (en) * 2019-08-28 2019-11-22 河海大学 The permanent magnet motor structure and method of detectable permanent magnet demagnetization and rotor eccentricity failure
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